Design of Rocker Bogie Mechanism

Analysis and Simulation of a Rocker-bogie Exploration Rover

Rovers will continue to play an important role in planetary exploration. Plans include the use of the rocker-bogie rover configuration. Here, models of the mechanics of this configuration are presented. Methods for solving the inverse kinematics of the system and quasi-static force analysis are described. Also described is a simulation based on the models of the rover’s performance. Experimenta...

Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration

Wheeled mobile rovers are being used in various missions for planetary surface exploration. In this paper a six-wheeled rover with rocker-bogie structure has been analyzed for planar case. The detailed kinematic model of the rover was built and the dynamic model was derived based on bond graph. The simulation studies were performed for obstacle climbing capability of the rover. It was observed ...

Traction Control for a Rocker-Bogie Robot with Wheel-Ground Contact Angle Estimation

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...

Effect of rocker shoe design features on

What is the best Rocker Shoe design?

Background Rocker shoes are often prescribed to reduce in-shoe pressures in order to minimise the risk of ulceration in diabetic patients. However, the efficacy of the 3 principal design features of a rocker shoe (apex position, rocker angle and apex angle, see Figure 1) is unknown. Only one known study to date has systematically varied 2 of the 3 design features [1]. Therefore the aim of this ...